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* Author: Eitan Marder-Eppstein
*********************************************************************/

#include <base_local_planner/local_planner_util.h>
#include <base_local_planner/goal_functions.h>

namespace base_local_planner
{

void LocalPlannerUtil::initialize(tf2_ros::Buffer *tf, costmap_2d::Costmap2D *costmap, std::string global_frame)
{
    if (!initialized_)
    {
        tf_ = tf;
        costmap_ = costmap;
        global_frame_ = global_frame;
        initialized_ = true;
    }
    else ROS_WARN("Planner utils have already been initialized, doing nothing.");
}

void LocalPlannerUtil::reconfigureCB(LocalPlannerLimits &config, bool restore_defaults)
{
    if (setup_ && restore_defaults) config = default_limits_;
    if (!setup_)
    {
        default_limits_ = config;
        setup_ = true;
    }
    boost::mutex::scoped_lock l(limits_configuration_mutex_);
    limits_ = LocalPlannerLimits(config);
}

LocalPlannerLimits LocalPlannerUtil::getCurrentLimits()
{
    boost::mutex::scoped_lock l(limits_configuration_mutex_);
    return limits_;
}


bool LocalPlannerUtil::getGoal(geometry_msgs::PoseStamped &goal_pose)
{
    //we assume the global goal is the last point in the global plan
    return base_local_planner::getGoalPose(*tf_, global_plan_, global_frame_, goal_pose);
}

bool LocalPlannerUtil::setPlan(const std::vector<geometry_msgs::PoseStamped> &orig_global_plan)
{
    if (!initialized_)
    {
        ROS_ERROR("Planner utils have not been initialized, please call initialize() first");
        return false;
    }
    //reset the global plan
    global_plan_.clear();
    global_plan_ = orig_global_plan;
    return true;
}

bool LocalPlannerUtil::getLocalPlan(const geometry_msgs::PoseStamped &global_pose,
                                    std::vector<geometry_msgs::PoseStamped> &transformed_plan)
{
    //get the global plan in our frame
    // ROS_WARN("==== frame: %s ", global_frame_.c_str());
    if (!base_local_planner::transformGlobalPlan(*tf_, global_plan_, global_pose,
            *costmap_, global_frame_, transformed_plan))
    {
        ROS_WARN("Could not transform the global plan to the frame of the controller");
        return false;
    }
    // now we'll prune the plan based on the position of the robot 现在我们将根据机器人的位置修剪已经走过的局部路径
    if (limits_.prune_plan) base_local_planner::prunePlan(global_pose, transformed_plan, global_plan_);
    return true;
}


} // namespace
